65results about How to "Easy to track" patented technology

The application relates to the technical field of medical devices, and discloses a positioning and tracking device, an optical positioning system and a surgical mechanical arm. The positioning and tracking device comprises a base and multiple groups of tracking arrays, the multiple groups of tracking arrays are arranged around the inside of the base, each group of tracking arrays comprises at least three tracking elements, and all the tracking elements in the same group of tracking arrays define a plane corresponding to a current tracking array. Alternatively, all the tracking elements in the same group of tracking arrays define a curved surface corresponding to the current tracking array. The positioning and tracking device, the optical positioning system and the surgical mechanical arm provided by the application can improve the problem in the related art that when the included angle between a tracking element and an optical tracking sensor changes greatly in the process of movement of an end instrument, the optical tracking sensor cannot acquire the position of the tracking element, so that the pose of the end instrument cannot be recognized.

The embodiment of the application provides a kind of determination method of abnormal request, this method includes: through the tracker deployed in node, corresponding entry is allocated for each request to node and the entry identification of generating entry identification;According to the generation order of entry identification, generate entry identification chain, wherein, entry identification chain includes entry identification and the validity state of entry identification;Through the polling detection of request in timer in tracker, determine timeout request, and the request corresponding to the first entry identification of chain is determined as abnormal request;Wherein, the first entry identification of chain is the earliest generation and the validity state is valid in entry identification chain.The technical problem that related art cannot accurately detect and locate abnormal request under the condition of low resource consumption is solved by the embodiment of the application.

This invention discloses a method and system for no-load voltage build-up and pre-synchronization grid connection control of an AC excitation system. The method includes: acquiring the amplitude and phase of the grid voltage in real time via a phase-locked loop when the speed of the doubly-fed induction motor reaches the synchronous speed range; detecting the rotor mechanical position and calculating the slip angle using an encoder; extracting the fundamental component and correcting the phase of the stator-side no-load voltage; setting a target value for the stator voltage based on grid voltage-oriented control and calculating the target rotor current; constructing an inner-loop control loop for the rotor current, calculating the feedforward decoupling term and performing phase compensation; superimposing an outer-loop control loop for the stator voltage, and correcting the rotor current through closed-loop adjustment to eliminate the deviation between the stator-side no-load voltage and the grid voltage; and closing the grid connection circuit breaker and switching the control mode when the preset synchronization conditions are met. The dual-closed-loop control structure achieves precise no-load voltage build-up and smooth pre-synchronization grid connection of the excitation system, improving the stability and reliability of the grid connection process.

The application discloses a stable domain constraint trajectory planning and control method for a modular distributed electric drive heavy load vehicle, comprising the following steps: constructing a nonlinear dynamics model of the modular distributed electric drive heavy load vehicle, fitting a tire lateral force model through a rational polynomial, and establishing a vehicle system state space expression based on the rational polynomial form; adopting a sum of squares planning method to estimate the stable domain of the vehicle under different vehicle speeds, road adhesion coefficients and front, middle and rear wheel turning angles, and analyzing the influence of each state quantity on the shape and boundary of the stable domain; embedding the stable domain constraint into a trajectory planning layer based on a quintic polynomial to generate an obstacle avoidance trajectory meeting the dynamics stability; designing a multi-axle proportional steering strategy based on a steady state assumption, and combining a nonlinear model predictive controller to realize trajectory tracking control, so that the stability and control feasibility of the vehicle in a high-speed dynamic obstacle avoidance process are ensured. Through construction of a high-speed dynamic obstacle avoidance simulation scene, the effectiveness, stability and control feasibility of the stable domain constraint trajectory planning and control framework are verified.

The present application belongs to the technical field of grinding processing, and discloses a control method of a point cloud polishing remote control system based on a sliding mode and adaptive control. The control method comprises the following steps: S1, establishing a dynamic equation of the remote control system to obtain control equations of a master robot and a slave robot; S2, performing point cloud scanning on a weld to be polished to obtain corresponding point cloud data, calculating the depth gradient, dexterity and stiffness of each point in the point cloud data, setting a starting point and an ending point of polishing, and planning an optimal polishing path; and S3, inputting the control equations obtained in step S1 and the optimal polishing path obtained in step S2 into a controller to control the slave robot to polish. Through the present application, the accuracy of the control algorithm and the optimization of the point cloud path search are combined, and the efficiency of remote operation control under polishing conditions is improved.

This invention discloses a partial discharge (PD) signal denoising method based on image information entropy and multivariate variational mode decomposition (MMD). The method involves converting the noisy signal into a grayscale image, calculating the image information entropy, and optimizing the number of modes K in the MMD by combining Pearson correlation coefficient and execution efficiency to determine the optimal value. The noisy PD signal is then decomposed. The kurtosis value of each intrinsic mode component is calculated, and the nature of the mode component is determined based on a threshold, classifying it as either a dominant PD component or a noise component. A mathematical statistical method using the 3σ criterion is employed to filter out normally distributed white noise. The reconstructed signal is then denoised using an improved wavelet thresholding method to obtain the denoised PD signal. This denoising method accurately reduces noise in noisy PD signals, achieving good noise suppression and restoring the waveform characteristics of the PD signal while maintaining high execution efficiency.

The invention relates to the technical field of nonlinear control, and discloses a transverse and lateral attitude controller design method based on an all-wheel-drive system method and interference compensation. The method comprises the following steps: establishing an aircraft transverse and lateral coupling model; according to the transverse and lateral coupling model of the aircraft, calculating a reference control instruction by using an all-drive system method; and obtaining an interference compensation attitude controller by using an active disturbance rejection method, and compensating the reference control instruction through the interference compensation attitude controller to obtain a compensated control instruction. The controller designed by the invention can well track the attitude instruction.

The application discloses a model-unknown unmanned vehicle cluster system identification and self-learning cooperative control method and relates to the technical field of multiple unmanned systems. Firstly, aiming at the complete unknown system model, the application uses a reinforcement learning and data-driven control joint use to design a reinforcement learning system model identification and reconstruction method. Secondly, an optimal cooperative control scheme based on reinforcement learning is designed, and an online adaptive learning cooperative control algorithm depending only on online state information and input information is proposed to learn the optimal control strategy. Under the action of the optimal control strategy, the follower unmanned vehicle can realize optimal tracking of the leading unmanned vehicle through Lyapunov stability analysis method. The model identification and reinforcement learning cooperative control method provided by the application completely relaxes the requirement of vehicle dynamics in the traditional tracking control protocol and realizes efficient cooperative path tracking control.

The utility model discloses a desktop formula wire joint piece scattered silk defect detection device, including the shell body that is located on the desktop, the bottom inner wall of shell body is installed with high definition imaging mechanism, and the front panel on shell body is installed with detection mechanism, the high definition imaging mechanism includes the inclined base fixed mounting on the bottom inner wall of shell body, and the top inclined surface of inclined base is provided with shooting assembly and adjusting assembly, the detection mechanism includes the plug board of inlay formula fixed mounting on the front panel of shell body, and the inboard of plug board is fixedly connected with glass plate through connecting column, and the side fixed mounting of glass plate near plug board has multiple prisms that are circularly distributed, the utility model discloses through high resolution's industrial camera and advanced image recognition algorithm, can accurately identify the tiny defect of wire joint piece, effectively reduces the misjudgment rate, improves product quality, and simple operation simultaneously, and the design structure of desktop formula is compact, and the floor space is small, and is convenient for installation and operation.

The invention relates to the technical field of power grid infrastructure projects. The invention discloses a structured design method and system for a feasibility research report of a power grid infrastructure project. The method comprises the steps of obtaining file data specified by related management of power grid infrastructure in a historical file library, and obtaining a structured text data set; performing structured information extraction on the text data set to obtain a structural framework set of the text; key review element extraction of the feasibility research content review rule is carried out on the text data set, and a key review element set is obtained; establishing logic association for each key review element, each node and each text in the text data set to obtain a mapping relation M of the key review element ID, the node ID and the text ID; according to the mapping relation M, a feasibility research report structure chart is formed, and a power grid infrastructure project feasibility research report template is created. The produced standardized template provides a solid and uniform data basis for treatment, integration and deep analysis of power grid data, thereby directly supporting scientificity and accuracy of investment decision.

This utility model provides an automated mineral sample dispensing and retention system, relating to the technical field of mineral sample dispensing and retention processes. It includes a conveying unit for conveying original sample boxes and wide-mouth sample bags respectively; a weighing unit for weighing the dispensed and retained samples; a placement unit for placing the dispensed and retained samples; and a moving unit for picking up the original sample boxes and wide-mouth sample bags from the conveying unit and sequentially moving them to the weighing and placement units. This system boasts a high degree of automation, enabling automated dispensing of mineral samples by number, retention of remaining samples, and traceability of remaining sample quality. It ensures the accuracy of mineral sample dispensing and retention information, and allows for fully automated batch processing, benefiting the occupational health and safety of workers, improving work efficiency and quality. It effectively overcomes the technical shortcomings of existing technologies that require manual operation at each stage, have low automation levels, and suffer from significant human error in sample management.

The application discloses a kind of wind generating set intelligent joint commissioning test system and test method, test system is by fan processor, hub processor, communication system, data storage and console constitute, system control and detect fan each component sensor data, judge its performance reliability, finally generate result report, store into database, establish fan digital file;Test control system and unit data transmission protocol TCP / IP, control system passes through output operating system instruction, controls unit equipment action and collects sensor data and system data and carries out comparison judgment, finally generates unit test report.The application improves the test efficiency and quality of wind generating set before delivery, guarantees the high efficiency and accuracy of wind generating set delivery test, guarantees the effective authenticity of test record, is favorable to wind power generating set product digitization, is convenient for tracking and management to wind power generating set, so as to be favorable to realizing the production cycle digitization of wind power generating set.

The present disclosure relates to a manufacturing method for a sensor transmitter for continuous glucose monitoring and, more particularly, to a manufacturing method for a sensor transmitter, capable of generating quality control information in which production information of a sensor and production information of a transmitter that are used for the sensor transmitter during an assembly process of the sensor transmitter are mapped to each other, and storing and managing the generated quality control information in a server, so as to monitor a distribution channel or a sales channel of the sensor transmitter by using the quality control information, use for quality control of the sensor transmitter, or easily track a bad sensor transmitter.

The application discloses a kind of based on acoustic wave FMCW's respiratory frequency detection method, belong to acoustic wave signal processing technical field;Method is: utilize mobile phone loudspeaker to generate a segment frequency continuous change acoustic wave signal, form continuous acoustic wave detection sequence;Mobile phone microphone receives the acoustic wave signal that is reflected back synchronously;To the acoustic wave signal that is reflected back received filtering processing;With reflected signal, the distance change curve of thoracic cavity with breathing movement is generated by autocorrelation operation to transmission signal;Distance change curve is carried out smoothing processing;The main frequency frequency is obtained by fast fourier transform, and respiratory frequency is calculated.The present application effectively suppresses environmental noise interference by using the advantages of FMCW technology, analyzes the autocorrelation coefficient of reflected signal, accurately extracts the thoracic movement information related to respiration, and realizes the accurate detection of human respiratory frequency;Using autocorrelation function is easier to find peak, more easily tracked nature, greatly increase the convenience of user.

This invention relates to a LOTO information-based and intelligent integrated security management method, comprising the following steps: 1) Optimizing the YOLO human body recognition algorithm under high-definition images, dividing the image into multiple regions with the same resolution as the standard image of the algorithm, and recognizing them separately; 2) Using OpenCV for image stitching, dividing, matching, and stitching these regional images so that the segmented object remains intact after the fusion of multiple images, avoiding duplicate recognition; 3) Adding motion foreground detection, using OpenCV for foreground detection; 4) Visual recognition of the number of locks; 5) Label recognition, using OCR to visually recognize security warning words; 6) Visual recognition of equipment status, developing algorithms for on-site equipment scenarios to identify the operating status of the equipment; This invention can reduce the risks caused by subjective factors of personnel in the traditional LOTO operation process, greatly improving LOTO security.

The application relates to a kind of twelve-phase permanent magnet motor control methods based on rotating shaft position observation, belong to motor control technical field. By equivalent twelve-phase permanent magnet synchronous motor to four three-phase control units;Design state observer based on rotating shaft for each unit to observe back electromotive force;Through phase-locked loop, the rotor position and speed signal of each unit is extracted from back electromotive force;According to master-slave control method, select one from four control units as master controller, use the rotor position and speed signal corresponding to the master controller as the final observation result of the system;At the same time, it is used as feedback signal, input to the double closed loop vector control system of twelve-phase permanent magnet synchronous motor, realize twelve-phase high-speed permanent magnet synchronous motor sensorless control. The observer based on rotating coordinate system of the application is better designed, and is more stable when low carrier ratio control.

The invention belongs to the technical field of oil and gas field development reservoir transformation, and discloses a tracer agent for multilayer fracturing flowback monitoring, a preparation method and application, according to the preparation method, the effectiveness of the tracer agent is evaluated through an experimental means, and it is guaranteed that the effective tracer agent can be used for monitoring a flowback curve of fracturing fluid flowback volume along with time; according to the application method, a tracer agent is used for marking fracturing fluid, and the initial fracturing fluid dosage and the initial tracer agent dosage are recorded; after flowback is started, accumulated flowback volume is recorded at a fixed time interval, the real-time concentration of the tracer agent is measured, and the flowback volume of each section is calculated; according to the return volume of each section and the accumulated return volume of each section, the return curve and the accumulated return rate of each section are calculated, the liquid production contribution rate and the production sequence of each layer section can be accurately obtained, and the liquid production capacity can be calculated in a semi-quantitative mode. Through flow-back liquid sample detection and data analysis, the liquid drainage sequence, the flow-back contribution rate and the like of each layer section can be determined, and data support is provided for subsequent construction.

This invention discloses a spatiotemporally integrated UAV image target tracking method, belonging to the field of aerial image processing technology. The method includes the following steps: Step 1, constructing a backbone network based on the VIT model; Step 2, constructing a network framework for a single-stream VIT model; Step 3, constructing a loss function based on contrastive learning; Step 4, adding a dynamic template update mechanism; Step 5, constructing two sequence decoder structures; Step 6, inputting the image and past sequences into the network to obtain the final tracking result. This invention provides a spatiotemporally integrated UAV image target tracking method. In the air domain, it designs a single-stream VIT-based backbone network and a contrastive learning-based loss function for small targets; in the temporal domain, it designs a dynamic template update mechanism and a trajectory prediction-based decoder to address background interference. These two structures together form a spatiotemporally integrated tracking algorithm, effectively improving the success rate and accuracy of target tracking from the UAV's perspective.

The application provides a multi-degree-of-freedom electric control heavy-load mechanical arm output feedback nonlinear control method, which comprises the following steps: step S100, a mathematical model of a multi-degree-of-freedom electric control heavy-load mechanical arm is established, including a heavy-load mechanical arm mechanical system dynamics model and a Solidworks-Simulink joint simulation model; step S200, based on the mathematical model of the multi-degree-of-freedom electric control heavy-load mechanical arm, a neural network observer is designed to compensate for modeling uncertainty, external disturbance and joint angular velocity of the mechanical arm system; and step S300, a multi-degree-of-freedom electric control heavy-load mechanical arm nonlinear controller based on the neural network observer is designed.

The invention discloses an engine main bearing health state monitoring method and device, equipment and a medium, and relates to the technical field of main bearing state monitoring, and the method comprises the steps: obtaining original vibration signals of a target engine under each working condition; selecting a group of target evaluation parameter sets including target resonance parameters and target health state parameters from an evaluation parameter set obtained after game optimization according to the engine basic information of the target engine; wherein the evaluation parameter set is a Pareto optimal solution set obtained by performing collaborative optimization by using a first target and a second target under a game that resonance parameters and health state parameters are mutually restricted under multiple working condition data of the healthy engine sample; extracting a main bearing impact signal from the original vibration signal based on the target resonance parameter; a main bearing health state value is determined based on the target health state parameter and the main bearing impact signal. And real-time state monitoring of the main bearing is realized.

This invention discloses a target tracking method and system based on a cross-correlation matching enhanced Siamese network, comprising: cropping a video sequence of the target to be tracked to obtain template images and search images for all frames; inputting the template images and search images into a constructed and trained cross-correlation matching enhanced Siamese network to extract template features and search features from the template images and search images; performing cross-correlation matching on the template features and search features to obtain cross-correlation features; encoding bounding box information in the template images to obtain bounding box encoded features; performing classification and regression calculations on the fused features of cross-correlation features and bounding box encoded features to obtain corresponding classification score maps and regression prediction maps; and obtaining the final position of the target on the video sequence frames based on the position with the largest response value in the classification score map and the offset of the regression prediction map. This invention has strong adaptability and high accuracy in tracking complex scene changes.

The application relates to a flexible mechanical arm control method and system based on a fuzzy PID, and the method comprises the following steps: constructing a flexible mechanical arm dynamics model according to mechanical arm related parameters, a hypothetical modal method and a Lagrange method; decoupling the flexible mechanical arm dynamics model to generate a slow variable subsystem model and a fast variable subsystem model; establishing an extended state observer according to the slow variable subsystem model and an impfal function and generating an observed disturbance value; generating an improved linear sliding mode surface according to a flexible mechanical arm position tracking error and a state power item; deriving the improved linear sliding mode surface to generate a sliding film control law; generating a trajectory tracking control law according to the observed disturbance value and the sliding film control law; generating a vibration suppression control law according to the fast variable subsystem model, a fuzzy PID control algorithm and a mechanical arm end vibration amount; and combining the trajectory tracking control law and the vibration suppression control law to generate a total control law. The method has better anti-disturbance performance and vibration suppression performance.

The application provides a near-analytical gliding trajectory planning method considering space-time full state constraints, and belongs to the field of aircraft control, and comprises the following steps: constructing a resistance acceleration profile model by considering terminal height, speed, local ballistic inclination, flight range and flight time constraints; constructing a flight range and time analytical prediction model according to the profile model, and then obtaining a reference profile based on a profile parameter correction algorithm; tracking the reference profile to obtain longitudinal trajectory parameters and flight time; according to the longitudinal trajectory parameters, a lateral planning method based on a heading adjustment / retention algorithm is used to obtain a lateral trajectory satisfying terminal position and track yaw angle constraints; considering lateral large maneuvering conditions, a terminal position and flight time deviation correction method is designed, the trajectory is corrected by iteratively updating the target flight range and flight time in an outer loop until the terminal accuracy requirement is met, and the flight trajectory is output. The method has high accuracy and calculation efficiency, and can quickly predict the flight capability boundary.

This invention discloses an integrated optimization control method for multi-axle vehicles under hub motor failure and in-wheel motor malfunction, belonging to the field of multi-axle vehicle multi-wheel independent drive lateral dynamics control technology. First, an ideal dynamic model and reference behavior of the multi-axle vehicle are established. Then, based on the uncertainty of the vehicle dynamics system caused by tire cornering stiffness changes due to tire nonlinearity, the dynamics system of the multi-axle vehicle is rewritten to obtain an uncertain system. Next, based on the uncertain system, top-level and bottom-level controller designs are performed for the multi-axle vehicle under hub motor failure and in-wheel motor malfunction, realizing the yaw moment reconstruction and allocation constraints for each wheel, thus obtaining the optimal control method for the multi-axle vehicle under hub motor failure and in-wheel motor malfunction. This invention achieves optimal tracking performance under hub motor failure, realizing driving safety and energy efficiency for multi-axle vehicles.

This invention discloses a 3D multi-object tracking method based on spatiotemporal adaptive attention. The method includes: acquiring 2D multi-source data and 3D multi-source data of a target scene; extracting image features from the 2D multi-source data to obtain image features, and extracting point cloud features from the 3D multi-source data to obtain point cloud features; fusing the image features and the point cloud features to obtain fused features; determining the detection state of each object in the target scene based on the fused features; extracting cooperative features between the detected object and the predicted object based on the detection state; and updating the object detection and tracking state in the target scene in real time based on the cooperative features. This invention can effectively achieve better tracking performance and reduce inference time, and can be widely applied in the field of computer technology.

This invention provides a method for simultaneously detecting the effective components and antibacterial activity of a gout relief gel, relating to the field of data processing technology. The method includes: performing spatial neighborhood weight decay transformation on a node correlation distribution tensor to obtain an adjacency constraint kernel function; performing temporal diffusion trajectory deduction processing on the adjacency constraint kernel function and the node correlation distribution tensor to obtain a dynamic evolution feature sequence; based on the dynamic evolution feature sequence, performing dual-channel feature flow matching and tensor-level fusion processing on the dynamic evolution feature sequence through a temporal cross-attention feature alignment mechanism to obtain a synchronous detection feature vector; and performing targeted parameter inverse mapping analysis on the synchronous detection feature vector to obtain the effective component concentration quantification parameter and the antibacterial activity inhibition rate parameter, thus completing the simultaneous detection of the effective components and antibacterial activity of the gout relief gel. This invention improves detection efficiency and reliability.

The present disclosure discloses a link tracking method and device, electronic equipment and storage medium. The link tracking method executed by an application node can include: using a proxy module integrated in a transmission control protocol (TCP) module in the kernel of the application node, inserting first tracking data in a TCP packet transmitted and received by the TCP module; generating and caching second tracking data according to the first tracking data; wherein the second tracking data is used at least for link tracking of a service call corresponding to the TCP packet; and when a state of the second tracking data satisfies a first condition, sending the second tracking data to a collection module.

The invention relates to the technical field of data integration, in particular to an internet information integration method and device and electronic equipment. The method comprises the following steps: preprocessing Internet multi-source information; performing data analysis and structuring on the Internet multi-source information to obtain a standardized data model; constructing a multi-source evaluation model based on the standardized data model to evaluate the credibility of the Internet multi-source information; performing information fusion and conflict resolution on the Internet multi-source information based on the comprehensive credibility score; and constructing an integrated database based on the Internet multi-source information after information fusion and conflict resolution. According to the invention, by constructing a multi-source acquisition engine, a heterogeneous analyzer, a credibility evaluation matrix and an intelligent fusion engine, automatic, structured and credible integration of enterprise-related internet information is realized.

The application provides a mechanical arm robust control method based on event triggering reinforcement learning, and comprises the following steps: step S100, a basic robust controller based on a dynamics model of a multi-degree-of-freedom mechanical arm is designed, and a discrete-time error dynamics model is constructed; step S200, a long short-term memory execution-evaluation network is designed to approximate unknown time-varying disturbances of the multi-degree-of-freedom mechanical arm system, and is used for feedforward torque compensation; and step S300, an event triggering mechanism based on a time sequence difference Bellman error is designed, and a gradient descent method is used to update network weights.

The utility model discloses a detection device for an upper nozzle of a tundish, which relates to the technical field of ferrous metallurgy and comprises a flowmeter, the lower end of the flowmeter is connected with a three-way joint, the other two ends of the three-way joint are connected with a first pipeline and a second pipeline, a pressure gauge is mounted on the first pipeline, and a pressure regulating valve is mounted on the second pipeline. The upper end of the pressure regulating valve is connected with a hose, the lower end of the pressure gauge is connected with an air outlet pipe, one end of the hose is externally connected with a water feeding opening, a flowmeter switch is arranged on the flowmeter, and a pipe clamp is fixed to the outer wall of the second pipeline. The device for detecting the air permeability of the upper nozzle is simple in structure, low in cost, capable of remarkably improving the air permeability of the upper nozzle and improving the working efficiency, and capable of effectively avoiding production and quality accidents caused by poor air permeability of the upper nozzle. And meanwhile, statistical data of the detection result is also convenient for refractory material manufacturers to track fluctuation of product quality, and data support is provided for continuously improving the refractory material quality.